I never said any kiruv Rabbi would tell them to drive to shul.
BUT! Kiruv Rabbis do recommend taking on one thing at a time and going slow. Talk to any baal teshuva and they will probably tell you that. So while no one says “Yes go out and break this halacha” they do tell baalei teshuva to start with one thing (like, trying to keep shabbos on friday night until they are comfortable with that).
Feel free to pretend to misunderstand my point, but I am sure you get it by now.